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The Husky should be running both a robot_state_publisher and joint_state_publisher by default on startup (startup launchfile)

These two wiki pages may also be of help:

husky_localization

husky_navigation

Of course, what is on your robot right now partially depends on when your robot was set up, but all of the source for the Husky ROS packages is on our github (our techs work from it, too)